Knowledge Commons of Institute of Automation,CAS
Turning control of a tuna-like BAUV for a minimum turning radius | |
Du, Sheng1,2; Yu, Junzhi1,3; Wu, Zhengxing1,2; Chen, Di1,2; Wang, Ming4 | |
2021 | |
会议名称 | Chinese Control Conference (CCC) |
会议日期 | 2021-7 |
会议地点 | Shanghai, China |
摘要 | In order to break the bottleneck of conventional autonomous underwater vehicles (AUVs), biologically-inspired AUVs (BAUVs) have drawn great attention. This paper explores the turning control issue of a tuna-like BAUV with the purpose of seeking a minimum turning radius. Specifically, for better understanding of the turning motion, a dynamical model is established and the force acting on the tail fin is taken as the main source. Because of the complex nonlinear relationship and physical restrictions, it is hard to optimize the turning radius directly. To tackle with this problem, the input signals of joints are generated by sine function so as to satisfy physical constraints, and simulations under different parameter combinations are conducted. Furthermore, a fixed tail joint method and a half-cycle flapping method are chosen and compared in an indoor pool. Finally, the experimental results verify the effectiveness of proposed methods, and a minimum turning radius of the tuna-like BAUV is achieved as small as 0.37 body lengths. |
关键词 | Turning control biologically-inspired autonomous underwater vehicles tuna-like robot |
收录类别 | EI |
语种 | 英语 |
七大方向——子方向分类 | 智能控制 |
文献类型 | 会议论文 |
条目标识符 | http://ir.ia.ac.cn/handle/173211/44717 |
专题 | 复杂系统认知与决策实验室_先进机器人 |
通讯作者 | Yu, Junzhi |
作者单位 | 1.State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing 100190, China 2.School of Artificial Intelligence, University of Chinese Academy of Sciences, Beijing 100049, China 3.Dept. Adv. Manuf. Robot., BIC-ESAT, College of Engineering, Peking University, Beijing 100871, China 4.School of Information and Electrical Engineering, Shandong Jianzhu University, Jinan 250101, China |
第一作者单位 | 中国科学院自动化研究所 |
通讯作者单位 | 中国科学院自动化研究所 |
推荐引用方式 GB/T 7714 | Du, Sheng,Yu, Junzhi,Wu, Zhengxing,et al. Turning control of a tuna-like BAUV for a minimum turning radius[C],2021. |
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文件名称/大小 | 文献类型 | 版本类型 | 开放类型 | 使用许可 | ||
CCC#550.pdf(6099KB) | 会议论文 | 开放获取 | CC BY-NC-SA | 浏览 下载 |
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